McQuirk, I.S. "An Analog VLSI Chip for Estimating the Focus of Expansion" AITR-1577,(1996)  Home/Search   Document Details and Download   Summary   Related Articles   Check

....pioneered by Horn and Weldon in [7] Using only a single image pair one has N equations in N 6 unknowns, where N is the number of points in the image, so some added constraint is needed. Negahdaripour and Horn [11] present a closed form solution assuming a planar or quadratic surface. McQuirk [8] shows that, assuming a pure translation model, the subset of the image points with a nonzero spatial derivative but a zero time derivative gives the direction of motion. The FOE is on a line perpendicular to the gradient at these points. But by using only this subset of the points we are throwing ....

McQuirk, I.S. "An Analog VLSI Chip for Estimating the Focus of Expansion" AITR-1577,(1996)

....The zero crossing in a 1D array of CMOS velocity sensors was used to detect one component of the focus of expansion. In a separate chip, the sum of a radial array of velocity sensors was used to compute the rate of flow field expansion, from which the time to contact can be calculated. McQuirk [McQ96] built a CCD based image processor which used an iterative algorithm to locate consistent stable points in the image, and thus the focus of expansion. More recently, Deutschmann et al. DW98] have extended Indiveri et al. s work to 2D by summing rows and columns in a 2D CMOS motion sensor array ....

I. McQuirk. An analog VLSI chip for estimating the focus of expansion. Technical Report 1577, Massachusetts Institute of Technology, Artificial Intelligence Laboratory, 1996.

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I. S. McQuirk, An Analog VLSI Chip for Estimating the Focus of Expansion. PhD thesis, Massachusetts Institute of Technology, 1996.

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